The total loss includes 3D lane loss and front view lane loss. The front view lane loss includes lane segmentation loss of front view and lane clustering loss of front view, which we refer to LaneNet[1]}.
\({L_{total}} = \lambda _{conf}^{3d}L_{conf}^{3d} + \lambda _{embed}^{3d}L_{embed}^{3d} + \lambda _{offset}^{3d}L_{offset}^{3d} + \lambda _{height}^{3d}L_{height}^{3d} + \lambda _{seg}^{2d}L_{seg}^{2d} + \lambda _{embed}^{2d}L_{embed}^{2d}\) 
